DARTScrewJoint.hh
Go to the documentation of this file.
1 /*
2  * Copyright (C) 2014 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 
18 #ifndef _GAZEBO_DARTSCREWJOINT_HH_
19 #define _GAZEBO_DARTSCREWJOINT_HH_
20 
21 #include <string>
22 
25 #include "gazebo/util/system.hh"
26 
27 namespace gazebo
28 {
29  namespace physics
30  {
33 
35  class GZ_PHYSICS_VISIBLE DARTScrewJoint : public ScrewJoint<DARTJoint>
36  {
39  public: DARTScrewJoint(BasePtr _parent);
40 
42  public: virtual ~DARTScrewJoint();
43 
44  // Documentation inherited.
45  public: virtual void Load(sdf::ElementPtr _sdf);
46 
47  // Documentation inherited
48  public: virtual ignition::math::Vector3d Anchor(
49  const unsigned int _index) const;
50 
51  // Documentation inherited
52  public: virtual void SetAnchor(const unsigned int _index,
53  const ignition::math::Vector3d &_anchor);
54 
55  // Documentation inherited.
56  public: virtual void Init();
57 
58  // Documentation inherited
59  public: virtual ignition::math::Vector3d GlobalAxis(
60  const unsigned int _index) const;
61 
62  // Documentation inherited
63  public: virtual void SetAxis(const unsigned int _index,
64  const ignition::math::Vector3d &_axis);
65 
67  public: virtual void SetThreadPitch(unsigned int _index,
68  double _threadPitch);
69 
71  public: virtual void SetThreadPitch(double _threadPitch);
72 
74  public: virtual double GetThreadPitch(unsigned int _index);
75 
77  public: virtual double GetThreadPitch();
78 
79  // Documentation inherited
80  public: virtual double GetParam(const std::string &_key,
81  unsigned int _index);
82 
83  // Documentation inherited
84  public: virtual bool SetParam(const std::string &_key,
85  unsigned int _index,
86  const boost::any &_value);
87 
88  // Documentation inherited
89  public: virtual double PositionImpl(const unsigned int _index) const;
90 
91  // Documentation inherited
92  public: virtual double GetVelocity(unsigned int _index) const;
93 
94  // Documentation inherited
95  public: virtual void SetVelocity(unsigned int _index, double _vel);
96 
97  // Documentation inherited.
98  public: virtual double UpperLimit(const unsigned int _index) const;
99 
100  // Documentation inherited.
101  public: virtual double LowerLimit(const unsigned int _index) const;
102 
103  // Documentation inherited.
104  protected: virtual void SetForceImpl(unsigned int _index, double _effort);
105  };
107  }
108 }
109 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
A screw joint.
Definition: DARTScrewJoint.hh:35
A screw joint, which has both prismatic and rotational DOFs.
Definition: ScrewJoint.hh:35
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77